TWI565219B - Device for controlling of ac rotating machine - Google Patents
Device for controlling of ac rotating machine Download PDFInfo
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- TWI565219B TWI565219B TW103125063A TW103125063A TWI565219B TW I565219 B TWI565219 B TW I565219B TW 103125063 A TW103125063 A TW 103125063A TW 103125063 A TW103125063 A TW 103125063A TW I565219 B TWI565219 B TW I565219B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Eletrric Generators (AREA)
Description
本發明係關於一種不使用位置感測器而能夠獲得感應電動機或同步電動機等交流旋轉電機之轉子位置的交流旋轉電機之控制裝置。 The present invention relates to a control device for an AC rotating machine capable of obtaining a rotor position of an AC rotating machine such as an induction motor or a synchronous motor without using a position sensor.
在交流旋轉電機的控制中，為了使旋轉電機以預期之輸出或轉數進行旋轉，通常係使用速度感測器或位置感測器而加以進行。惟，安裝諸該感測器的方法，會有在高成本、隨著伴隨配線而來之性能下降，耐故障性及/或維護(maintenance)面成為不利的問題。因此，有人提出不使用感測器，而偵測交流旋轉電機的磁極位置及轉速之方法。 In the control of an AC rotating machine, in order to rotate the rotating machine at an intended output or number of revolutions, it is usually performed using a speed sensor or a position sensor. However, the method of mounting the sensors has a problem of high cost, performance degradation accompanying wiring, and failure resistance and/or maintenance surface. Therefore, a method of detecting the magnetic pole position and the rotational speed of the AC rotating motor without using a sensor has been proposed.
就諸該之方法而言，利用感應電壓之方法係為公知，主要係為有利於在感應電壓較大之高速區域之運轉。另一方面，在零速或低速區等難以使用感應電壓之速度區域中，習知有於交流旋轉電機重疊與基本頻率相異之頻率的電壓或電流而利用電感(inductance)之凸極性來推定磁極位置之技術。 In the case of the methods, the method of using the induced voltage is well known, and is mainly advantageous for operation in a high-speed region where the induced voltage is large. On the other hand, in a speed region where it is difficult to use an induced voltage such as a zero speed or a low speed region, it is conventional to estimate the voltage or current at which the AC rotating motor overlaps the fundamental frequency and utilize the convex polarity of the inductance. The technology of magnetic pole position.
例如於專利文獻1所記載之發明係揭露：施加高頻交變電壓，以使朝其正交方向流動之高頻電流之振幅成為零之方式推定磁極位置之方法。 For example, the invention described in Patent Document 1 discloses a method of estimating a magnetic pole position by applying a high-frequency alternating voltage so that the amplitude of the high-frequency current flowing in the orthogonal direction becomes zero.
此外，於專利文獻2所記載之發明係揭露：將高頻交變電壓施加於旋轉電機，且將所獲得之高頻電流值，以從推定角位移45度之相位轉換成d-q軸座標，並以使從前述所獲得之高頻阻抗(impedance)Zdm與Zqm一致之方式推定磁極位置，而於高負載時之補償，係從推定得到之磁極位置減去藉由對電流指令值之轉矩(torque)成分乘以比例常數而計算所得之補償角θˆr，以計算推定位置θˆc之方法。 Further, the invention described in Patent Document 2 discloses that a high-frequency alternating voltage is applied to a rotating electrical machine, and the obtained high-frequency current value is converted into a dq-axis coordinate by a phase shifted from a predetermined angular angle of 45 degrees, and The magnetic pole position is estimated such that the high-frequency impedance Zdm and Zqm obtained from the above are matched, and the compensation at the time of high load is subtracted from the estimated magnetic pole position by the torque of the current command value ( The torque component is multiplied by the proportional constant to calculate the compensation angle θ ˆ r to calculate the estimated position θ ˆ c.
專利文獻1：日本特許(專利)第3312472號公報。 Patent Document 1: Japanese Patent Application Laid-Open No. 3312472.
專利文獻2：日本特開2002-291283號公報。 Patent Document 2: Japanese Laid-Open Patent Publication No. 2002-291283.
專利文獻3：日本特許(專利)第4672236號公報。 Patent Document 3: Japanese Patent Application Laid-Open No. 4672236.
於專利文獻1所記載的發明係因以使施加高頻交變電壓之方向的正交成分的振幅成為零之方式，調整施加高頻交變電壓之軸，故導致於負載電流流動時當電感磁性飽和時使推定位置從實際的磁極位置偏移。 In the invention described in Patent Document 1, since the axis of the high-frequency alternating voltage is applied so that the amplitude of the orthogonal component in the direction in which the high-frequency alternating voltage is applied is zero, the inductance is caused when the load current flows. When the magnetic saturation is performed, the estimated position is shifted from the actual magnetic pole position.
此外，於專利文獻2所記載之發明係因朝高頻阻抗(impedance)一致之軸施加高頻交變電壓，故會有無負載時，雖使施加高頻交變電壓之軸、與不產生轉矩之軸一致，惟於負載時會有施加高頻交變電壓之軸，從不產生轉矩之軸偏移，而形成振動及噪音之原因的問題。 Further, in the invention described in Patent Document 2, since a high-frequency alternating voltage is applied to a shaft having a high-frequency impedance, the axis of the high-frequency alternating voltage is applied and the rotation is not generated when there is no load. The axis of the moment is the same, but there is a problem that the axis of the high-frequency alternating voltage is applied during the load, and the axis of the torque is never generated, which causes vibration and noise.
本發明之交流旋轉電機之控制裝置，係具備：電流向量偵測手段，用以偵測交流旋轉電機之電流向量；控制手段，輸入電流向量指令與前述偵測電流向量，輸出將供以驅動前述交流旋轉電機之基本波電壓向量指令與交變於任意軸之交變電壓向量指令相加的電壓向量指令；電壓施加手段，根據前述電壓向量指令而對前述交流旋轉電機施加電壓；交變電流振幅計算手段，輸入以前述電流向量偵測手段所偵測之電流向量，計算對於前述交變電壓向量指令之平行成分與正交成分之至少一方的交變電流振幅；交變電流振幅指令產生手段，用以依據前述電流向量指令產生交變電流振幅指令；以及磁極位置計算手段，用以計算前述交流旋轉電機之推定磁極位置；其中，前述磁極位置計算手段係計算前述推定磁極位置俾使前述交變電流振幅與前述交變電流振幅指令一致。 The control device for the AC rotating electric machine of the present invention comprises: a current vector detecting means for detecting a current vector of the AC rotating electric machine; a control means, an input current vector command and the detected current vector, and the output is provided to drive the foregoing a voltage vector command of an alternating wave voltage vector command of an alternating current motor and an alternating voltage vector command alternating with an arbitrary axis; a voltage applying means applying a voltage to the alternating current rotating electric machine according to the voltage vector command; alternating current amplitude Calculating means, inputting a current vector detected by the current vector detecting means, calculating an alternating current amplitude of at least one of a parallel component and an orthogonal component of the alternating voltage vector command; and generating an alternating current amplitude command means, And the magnetic pole position calculating means is configured to calculate the estimated magnetic pole position of the AC rotating electric machine; wherein the magnetic pole position calculating means calculates the estimated magnetic pole position to cause the alternating Current amplitude and the aforementioned alternating current amplitude command Cause.
根據本發明，藉由令交變電流振幅與交變電流振幅指令一致之方式計算推定位置，能夠直接將用以推定磁極位置所施加之高頻交變電壓恆常地施加在不產生轉矩之軸進行磁極位置的推定，並且因不受因磁性飽和導致之推定位置誤差的影響，故能夠抑制旋轉電機之振動及噪音。 According to the present invention, by calculating the estimated position so that the alternating current amplitude coincides with the alternating current amplitude command, the high-frequency alternating voltage applied to estimate the magnetic pole position can be directly applied to the torque-free generation. Since the axis estimates the magnetic pole position and is not affected by the estimated position error due to magnetic saturation, the vibration and noise of the rotating electrical machine can be suppressed.
1‧‧‧交流旋轉電機 1‧‧‧AC rotating electric machine
2‧‧‧電流向量偵測手段 2‧‧‧ Current vector detection means
3‧‧‧控制手段 3‧‧‧Control means
4‧‧‧電壓施加手段 4‧‧‧Voltage application means
5‧‧‧交變電流振幅計算手段 5‧‧‧Alternating current amplitude calculation means
6‧‧‧磁極位置計算手段 6‧‧‧ Magnetic pole position calculation means
7‧‧‧交變電流振幅指令產生手段 7‧‧‧Alternating current amplitude command generation means
21、35、651‧‧‧座標轉換器 21, 35, 651‧‧‧ coordinate converter
31、34、61、512、631、632、643、6522‧‧‧加減算器 31, 34, 61, 512, 631, 632, 643, 6522 ‧ ‧ adders and subtractors
32‧‧‧電流控制器 32‧‧‧ Current controller
33‧‧‧高頻交變電壓向量產生器 33‧‧‧High frequency alternating voltage vector generator
51‧‧‧濾波器 51‧‧‧ Filter
52‧‧‧正交成分抽出器 52‧‧‧Orthogonal component extractor
53‧‧‧交變振幅抽出器 53‧‧‧Alternating amplitude extractor
62‧‧‧磁極位置推定器 62‧‧‧Magnetic pole position estimator
63‧‧‧偏差向量計算部 63‧‧‧Deviation Vector Calculation Department
64‧‧‧偏差放大部 64‧‧‧Deviation enlargement
65‧‧‧適應性觀測部 65‧‧‧Adapted Observation Department
66‧‧‧磁通向量偵測部 66‧‧‧Magnetic Vector Detection Department
511‧‧‧陷波濾波器 511‧‧‧ notch filter
521、531‧‧‧正交成分選擇器 521, 531‧‧‧Orthogonal component selector
522、532、534‧‧‧振幅計算器 522, 532, 534‧‧‧ amplitude calculator
533‧‧‧平行成分選擇器 533‧‧‧Parallel component selector
641、642、644、645‧‧‧增益矩陣 641, 642, 644, 645‧‧‧ Gain Matrix
652‧‧‧狀態觀測器 652‧‧‧Status Observer
653‧‧‧積分器 653‧‧‧ integrator
6521、6523至6526‧‧‧增益矩陣計算器 6521, 6523 to 6526‧‧‧ Gain Matrix Calculator
6527‧‧‧速度推定器 6527‧‧‧Speed estimator
第1圖係為顯示實施形態1之交流旋轉電機之控制裝置的全體構成之圖。 Fig. 1 is a view showing the overall configuration of a control device for an AC rotating machine according to the first embodiment.
第2圖係為說明實施形態1之控制手段3之內部構成之概略構成圖。 Fig. 2 is a schematic block diagram showing the internal structure of the control means 3 of the first embodiment.
第3圖係為顯示實施形態1之交變電流振幅計算手段5之內部構成之概略構成圖。 Fig. 3 is a schematic block diagram showing the internal configuration of the alternating current amplitude calculating means 5 of the first embodiment.
第4圖係為說明第3圖的濾波器51之內部構成之說明圖。 Fig. 4 is an explanatory view for explaining the internal configuration of the filter 51 of Fig. 3.
第5圖係為說明第3圖的正交成分抽出器52之內部構成之說明圖。 Fig. 5 is an explanatory view for explaining the internal configuration of the orthogonal component extractor 52 of Fig. 3.
第6圖係為以向量說明實施形態1之交流旋轉電機的動作之圖。 Fig. 6 is a view for explaining the operation of the AC rotating machine of the first embodiment by a vector.
第7圖係為將顯現在實施形態1之交流旋轉電機之負載時之電感分佈與無負載時比較而加以表示之動作說明圖。 Fig. 7 is an operation explanatory view showing the inductance distribution when the load of the AC rotating machine of the first embodiment is compared with that at the time of no load.
第8圖係為用向量說明第7圖的狀態之圖。 Fig. 8 is a diagram for explaining the state of Fig. 7 by a vector.
第9圖係為用以說明專利文獻2的動作之說明圖。 FIG. 9 is an explanatory diagram for explaining the operation of Patent Document 2.
第10圖係為顯示實施形態1之磁極位置計算手段6的內部構成之概略構成圖。 Fig. 10 is a schematic block diagram showing the internal configuration of the magnetic pole position calculating means 6 of the first embodiment.
第11圖係為顯示實施形態2之交流旋轉電機之控制裝置的全體構成之圖。 Fig. 11 is a view showing the overall configuration of a control device for an AC rotating machine according to a second embodiment.
第12圖係為顯示實施形態2之磁極位置計算手段6的內部構成之概略構成圖。 Fig. 12 is a schematic configuration diagram showing the internal configuration of the magnetic pole position calculating means 6 of the second embodiment.
第13圖係為顯示實施形態2之偏差放大部64的內部構成之概略構成圖。 Fig. 13 is a schematic configuration diagram showing the internal configuration of the deviation amplifying portion 64 of the second embodiment.
第14圖係為顯示實施形態2之偏差放大部64的其他構成例之概略構成圖。 Fig. 14 is a schematic configuration diagram showing another configuration example of the deviation amplifying unit 64 of the second embodiment.
第15圖係為顯示實施形態2之適應性觀測部65的內部構成之概略構成圖。 Fig. 15 is a schematic configuration diagram showing the internal configuration of the adaptive observation unit 65 of the second embodiment.
第16圖係為顯示實施形態2之狀態觀測器652的內部構成之概略構成圖。 Fig. 16 is a schematic configuration diagram showing the internal configuration of the state observer 652 of the second embodiment.
第17圖係為用以用向量說明實施形態2的動作之說明圖。 Fig. 17 is an explanatory diagram for explaining the operation of the second embodiment by a vector.
第18圖係為顯示實施形態2之交變電流振幅計算手段5的內部構成之概略構成圖。 Fig. 18 is a schematic configuration diagram showing the internal configuration of the alternating current amplitude calculating means 5 of the second embodiment.
第19圖係為顯示實施形態2之交變振幅抽出器53的內部構成之概略構成圖。 Fig. 19 is a schematic configuration diagram showing the internal configuration of the alternating amplitude extractor 53 of the second embodiment.
第20圖係為顯示實施形態3之交流旋轉電機之控制裝置的全體構成之圖。 Fig. 20 is a view showing the overall configuration of a control device for an AC rotating machine according to a third embodiment.
第21圖係為顯示實施形態3之交流旋轉電機之控制裝置的其他構成例之圖。 Fig. 21 is a view showing another configuration example of the control device for the AC rotating machine of the third embodiment.
第22圖係為顯示實施形態4之交流旋轉電機之固定轉矩曲線之圖。 Fig. 22 is a view showing a fixed torque curve of the AC rotating machine of the fourth embodiment.
第23圖係為用以說明實施形態4的動作之說明圖。 Fig. 23 is an explanatory view for explaining the operation of the fourth embodiment.
第24圖係為用以說明實施形態4的動作之說明圖。 Fig. 24 is an explanatory view for explaining the operation of the fourth embodiment.
第1圖係為顯示本發明之實施形態1之交流旋轉電機之控制裝置的整體構成者。在第1圖中，交流旋轉電機1係為同步馬達，在此，係為採用永久磁鐵之同步電動機。在本實施形態中，雖例 舉同步馬達加以說明，惟即使為其他種類之旋轉電機亦能夠以同樣之原理而以構成。 Fig. 1 is a view showing the overall configuration of a control device for an AC rotating machine according to Embodiment 1 of the present invention. In the first drawing, the AC rotating electric machine 1 is a synchronous motor, and here, it is a synchronous motor using a permanent magnet. In this embodiment, although The synchronous motor is described, but even other types of rotating electrical machines can be constructed in the same principle.
於交流旋轉電機1連接有電流向量(vector)偵測手段2、以及電壓施加手段4，該電流向量偵測手段2係用以偵測交流旋轉電機1之電流向量，而該電壓施加手段4係相當於施加電壓之變流器(inverter)等的電力轉換器。 The AC rotating electric machine 1 is connected with a current vector detecting means 2 and a voltage applying means 4 for detecting a current vector of the AC rotating electric machine 1, and the voltage applying means 4 A power converter equivalent to an inverter that applies a voltage.
電流向量偵測手段2係偵測交流旋轉電機1之三相電流iu、iv、iw的電流，在座標轉換器21中，使用後述之推定磁極位置θ 0，而作為與交流旋轉電機1的轉子同步而進行旋轉之正交座標係座標轉換成屬於公知的d-q軸上之電流，將此作為偵測電流向量(ids，iqs)而輸出。 The current vector detecting means 2 detects the currents of the three-phase currents iu, iv, iw of the AC rotating machine 1, and uses the estimated magnetic pole position θ 0 described later in the coordinate converter 21 as the rotor with the AC rotating electric machine 1. The orthogonal coordinate system coordinates that are rotated in synchronization are converted into currents on the well-known dq axis, and are output as detection current vectors (ids, iqs).
於偵測三相電流時除了將電流的三相予以偵測之外，亦可利用偵測二相分而三相電流之和為零之事實而求得三相電流，亦可依據變流器母線電流或流通於開關(switching)元件之電流、與開關元件的狀態計算三相電流。 In addition to detecting the three phases of the current when detecting the three-phase current, the three-phase current can also be obtained by detecting the fact that the sum of the two phases is zero, and the current can be obtained according to the converter. The three-phase current is calculated from the bus current or the current flowing through the switching element and the state of the switching element.
控制手段3之詳細內容如第2圖之構成圖，係藉由加減算器31，從由外部所提供之電流向量指令(id_ref，iq_ref)分別減去前述偵測電流向量(ids，iqs)。在電流控制器32中，以使屬於加減算器31之輸出的電流向量指令與偵測電流向量之偏差消除之方式，進行比例積分控制而輸出基本波電壓向量指令(vdf，vqf)。高頻交變電壓向量產生器33，係輸出d、q軸上之高頻交變電壓向量指令(vdh，vqh)。 The details of the control means 3 are as shown in the second diagram, and the detected current vector (ids, iqs) is subtracted from the current vector command (id_ref, iq_ref) supplied from the outside by the adder-subtractor 31. The current controller 32 performs proportional-integral control to output a fundamental wave voltage vector command (vdf, vqf) in such a manner that the deviation between the current vector command belonging to the output of the adder-subtractor 31 and the detected current vector is eliminated. The high frequency alternating voltage vector generator 33 outputs high frequency alternating voltage vector commands (vdh, vqh) on the d and q axes.
在本實施形態中，係令僅朝d軸方向施加之交變電壓作為vqh=0。在加減算器34中，係輸出加法運算前述基本波電 壓向量指令與高頻交變電壓向量指令的電壓向量指令(vd，vq)，而在座標轉換器35中使用推定位置θ 0將屬於加減算器34之輸出的電壓向量指令(vd，vq)從d-q軸轉換成靜止座標之3相電壓向量指令(vu，vv，vw)並輸出。 In the present embodiment, the alternating voltage applied only in the d-axis direction is assumed to be vqh=0. In the adder-subtractor 34, the output of the basic wave is added The voltage vector command and the high-frequency alternating voltage vector command voltage vector command (vd, vq), and the estimated position θ 0 in the coordinate converter 35, the voltage vector command (vd, vq) belonging to the output of the adder-subtractor 34 is used. The dq axis is converted into a 3-phase voltage vector command (vu, vv, vw) of the stationary coordinate and output.
另外，在本實施形態中，控制手段3雖採取使用比例積分控制而產生電壓指令向量之方法，惟例如即使為V/f控制等之控制方式，只要加法運算高頻交變電壓向量指令，亦能夠以同樣之原理而加以構成。 Further, in the present embodiment, the control means 3 adopts a method of generating a voltage command vector by using proportional-integral control, but for example, even if it is a control method such as V/f control, as long as the high-frequency alternating voltage vector command is added, It can be constructed in the same principle.
電壓施加手段4係為變流器等之電力轉換器，且根據由控制手段3所輸出之電壓向量指令，而施加電壓於交流旋轉電機1。交變電流振幅計算手段5，詳細如第3圖之構成圖，從偵測電流向量抽出使用濾波器(filter)51所獲得之高頻電流向量，並使用正交成分抽出器52計算高頻電流之正交成分的振幅，作為交變電流振幅而輸出。 The voltage application means 4 is a power converter such as a current transformer, and a voltage is applied to the AC rotating machine 1 based on a voltage vector command output from the control means 3. The alternating current amplitude calculating means 5, as shown in detail in FIG. 3, extracts the high-frequency current vector obtained by using the filter 51 from the detected current vector, and calculates the high-frequency current using the orthogonal component extractor 52. The amplitude of the orthogonal component is output as the alternating current amplitude.
前述濾波器51係為從偵測電流向量抽出高頻電流向量之濾波器，若能夠由偵測電流向量抽出與前述高頻交變電壓向量指令(vdh，vqh)相同頻率成分之濾波器，則使用任何者均可。例如，如第4圖所示，利用屬於公知之陷波濾波器(notch filter)511作為窄頻帶之帶阻濾波器(band-stop filter)，抽出高頻電流向量。在第4圖之陷波濾波器511中，係將除去數式(1)之高頻交變電壓向量之角頻率ω h之陷波濾波器使用於偵測電流向量，而從偵測電流向量除去角頻率ω h成分。在加減算器512中係以從偵測電流向量減去陷波濾波器511之輸出之方式，依據偵測電流向量計算角頻率ω h成分的高頻電流向量。另外，數式(1)的s係為拉普 拉斯運算子，qx係為陷波之深度。 The filter 51 is a filter for extracting a high-frequency current vector from the detected current vector. If the filter of the same frequency component as the high-frequency alternating voltage vector command (vdh, vqh) can be extracted from the detected current vector, then Use any one. For example, as shown in Fig. 4, a high-frequency current vector is extracted by using a well-known notch filter 511 as a narrow band band-stop filter. In the notch filter 511 of FIG. 4, a notch filter that removes the angular frequency ω h of the high-frequency alternating voltage vector of the equation (1) is used to detect the current vector, and the detected current vector is used. The angular frequency ω h component is removed. In the adder-subtractor 512, the high-frequency current vector of the angular frequency ω h component is calculated based on the detected current vector by subtracting the output of the notch filter 511 from the detected current vector. In addition, the s series of the formula (1) is Lapp The Ras operator, qx is the depth of the notch.
第5圖係為第3圖之正交成分抽出器52的構成圖。在正交成分抽出器52中係在正交成分選擇器521，以對高頻電流向量(idh，iqh)乘上矩陣(0，1)T之方式僅選擇屬於與d軸正交方向之高頻電流向量的iqh。在振幅計算器522中以進行數式(2)之計算之方式，計算屬於iqh之大小(振幅)的| iqh |並輸出。另外，數式(2)中之T係為iqh的週期。 Fig. 5 is a view showing the configuration of the orthogonal component extractor 52 of Fig. 3. The orthogonal component extractor 52 is connected to the orthogonal component selector 521 to multiply the high frequency current vector (idh, iqh) by the matrix (0, 1) T to select only the height orthogonal to the d axis. The iqh of the frequency current vector. In the amplitude calculator 522, | iqh | belonging to the magnitude (amplitude) of iqh is calculated and outputted by performing the calculation of the equation (2). Further, T in the formula (2) is a period of iqh.
以上係為交變電流振幅計算手段5之構成。 The above is the configuration of the alternating current amplitude calculating means 5.
回到第1圖，磁極位置計算手段6係根據交變電流振幅與後述之交變電流振幅指令產生手段7所輸出之交變電流振幅指令而計算推定磁極位置。 Referring back to Fig. 1, the magnetic pole position calculating means 6 calculates the estimated magnetic pole position based on the alternating current amplitude and the alternating current amplitude command outputted by the alternating current amplitude command generating means 7 which will be described later.
首先，針對施加高頻交變電壓而計算磁極位置之方法加以說明。首先，針對當前述之高頻交變電壓向量產生器33輸出高頻交變電壓向量vdh、vqh時，流通於交流旋轉電機1之高頻電流向量之數式加以說明。 First, a method of calculating the magnetic pole position by applying a high-frequency alternating voltage will be described. First, a description will be given of a numerical expression of a high-frequency current vector flowing through the AC rotating machine 1 when the high-frequency alternating voltage vector generator 33 outputs the high-frequency alternating voltage vectors vdh and vqh.
如第6圖所示，令轉子磁通向量方向為dm軸，其正交方向為qm軸，而令以施加高頻交變電壓向量之方式所獲得 顯示推定磁極位置θ 0之方向為d軸，其正交方向為q軸。此外，令d軸與dm軸之偏差係為△θ。另外，在第6圖中，係顯示交流旋轉電機1屬於無負載時之狀態者，且d軸係恒常性地與dm軸一致之方式進行動作。第6圖係為瞬時性地產生△θ之偏差時之圖。此時，將高頻交變電壓向量vdh、vqh分別朝d軸、q軸施加時之交流旋轉電機1之數式係能夠以數式(3)之方式加以表示。另外，數式中之P係為微分運算子。 As shown in Fig. 6, the rotor flux vector direction is the dm axis, and the orthogonal direction is the qm axis, which is obtained by applying a high frequency alternating voltage vector. The direction in which the estimated magnetic pole position θ 0 is displayed is the d-axis, and the orthogonal direction thereof is the q-axis. Further, the deviation between the d-axis and the dm axis is Δθ. In addition, in the sixth drawing, the state in which the AC rotating electric machine 1 is in a no-load state is displayed, and the d-axis system is constantly operated so as to coincide with the dm axis. Fig. 6 is a diagram showing a case where the deviation of Δθ is instantaneously generated. In this case, the equation of the AC rotating machine 1 when the high-frequency alternating voltage vectors vdh and vqh are applied to the d-axis and the q-axis, respectively, can be expressed by the equation (3). In addition, the P system in the equation is a differential operator.
使用高頻交變電壓偵測磁極位置時，在高轉速區域中因產生高頻之電壓及電流之分量，在運轉效率及電壓利用率、最大電流之點係為不利，故在零速度或低速使用之情形佳，在高轉速區域中使用利用公知之適應性觀測器等之磁極位置偵測手段者佳。因此，在此令於零速度至低速中使用高頻電壓，且預先令旋轉速度ω r ≒0時藉由數式(3)，即能夠獲得數式(4)。 When the high-frequency alternating voltage is used to detect the magnetic pole position, the high-voltage voltage and current components are generated in the high-speed region, which is disadvantageous in terms of operating efficiency, voltage utilization, and maximum current. Therefore, at zero speed or low speed. In the case of use, it is preferable to use a magnetic pole position detecting means using a well-known adaptive observer or the like in a high-speed region. Therefore, in this case, the high frequency voltage is used in the zero speed to the low speed, and the equation (4) can be obtained by the equation (3) when the rotational speed ω r 预先 0 is predetermined.
再者右邊第2項係為高頻電流之微分，高頻電流之微分係因設為高頻電壓之角頻率ω h倍，故成為右邊第2項》右邊第1項，而右邊第1項係可忽略，即能夠得到其結果數式(5)。 In addition, the second term on the right is the differentiation of the high-frequency current, and the differential of the high-frequency current is set to the angular frequency ω h of the high-frequency voltage, so it becomes the first item on the right side of the second item, and the first item on the right side. It can be ignored, that is, the result number (5) can be obtained.
在此，若令以數式(6)之方式求出高頻電壓向量，高頻電流向量idh、iqh係將數式(6)代入數式(5)，且將兩邊予以積分，而成為數式(7)。 Here, if the high-frequency voltage vector is obtained by the equation (6), the high-frequency current vectors idh and iqh are substituted into the equation (5), and the two sides are integrated to become the number. Formula (7).
[數式6]v dh =Vhsin ω h t v qh =0…(6) [Expression 6]v Dh =VhSinω h t v Qh =0...(6)
磁極位置推定係計算令偏差△θ為零之θ 0。在此，若利用數式(7)之高頻電流的振幅成分，則能夠將△θ以電流振幅之函數表示之。在此，當使用高頻電流之正交成分iqh的振幅| iqh |時，即能夠依數式(7)獲得數式(8)。 The magnetic pole position estimation calculates θ 0 in which the deviation Δθ is zero. Here, when the amplitude component of the high-frequency current of the equation (7) is used, Δθ can be expressed as a function of the current amplitude. Here, when the amplitude | iqh | of the orthogonal component iqh of the high-frequency current is used, the equation (8) can be obtained according to the equation (7).
此外，將數式(8)置換成△θ之數式，則形成數式(9)。 Further, by replacing the equation (8) with the equation of Δθ, the equation (9) is formed.
根據數式(9)，△θ近似於零係相等於| iqh |近似於零。因此，推定位置θ 0係能夠使用比例積分器而以數式(10)表示。 According to the equation (9), Δθ is approximately zero and is equal to | iqh | approximately zero. Therefore, the estimated position θ 0 can be expressed by the equation (10) using a proportional integrator.
另外，高頻電壓之角頻率ω h與高頻電壓振幅Vh係因能夠在高頻交變電壓向量產生器33任意地進行設定，故已知L、I係為能夠依數式(3)之但書藉由Ld、Lq求得者，且Ld、Lq係因能夠於事前以量測之方式加以掌握，故L、I亦為已知。 Further, since the angular frequency ω h of the high-frequency voltage and the high-frequency voltage amplitude Vh can be arbitrarily set in the high-frequency alternating voltage vector generator 33, it is known that the L and I systems can be expressed in accordance with the equation (3). However, the book is obtained by Ld and Lq, and Ld and Lq are known because they can be measured in advance. Therefore, L and I are also known.
如上所述，從施加高頻電壓向量之軸偏差△θ係能夠根據| iqh |而加以計算。 As described above, the axis deviation Δθ from the application of the high-frequency voltage vector can be calculated from |iqh|.
接著，針對負載時之電感磁性飽和所致之推定位置的誤差加以說明。 Next, the error of the estimated position due to the magnetic saturation of the inductance at the time of load will be described.
如前述，於負載時因交流旋轉電機之電感為磁性飽和，故若於某負載時產生位置誤差θ e，如第7圖所示某負載時之電感分佈 係相較於無負載時之分布僅變化θ e。因以數式(3)表示該變化，故以數式(11)重新定義Ldc、Lqc、Ldqc。 As described above, since the inductance of the AC rotating machine is magnetically saturated during load, if a position error θ e occurs at a certain load, the inductance distribution at a load as shown in Fig. 7 The system only changes θ e compared to the distribution at no load. Since the change is expressed by the formula (3), Ldc, Lqc, and Ldqc are newly defined by the equation (11).
若使用數式(11)展開數式(3)可得數式(12)。此外，高頻電流向量iqh之大小| iqh |係為數式(13)。 The equation (12) can be obtained by expanding the equation (3) using the equation (11). Further, the magnitude of the high-frequency current vector iqh | iqh | is a number (13).
在此，若| iqh |以近似於零之方式構成數式(10)之比例積分器，則根據數式(13)，(△θ-θ e)係近似於零。亦即，△θ係因收斂於θ e，如第8圖所示，顯示推定磁極位置θ 0之d軸係可在從實際之磁極位置dm軸偏移θ e之位置偵測。 Here, if | iqh | constitutes a proportional integrator of the equation (10) in a manner of approximately zero, (Δθ - θ e) is approximately zero according to the equation (13). That is, since Δθ is converged to θ e , as shown in Fig. 8, the d-axis showing the estimated magnetic pole position θ 0 can be detected at a position shifted by θ e from the actual magnetic pole position dm.
於專利文獻2所記載之發明，雖使用補償角補償推定磁極位置，惟如第9圖所示，因朝從推定磁極位置θ 0相隔±45°之軸的高頻阻抗一致之軸施加高頻電壓，故使施加高頻電壓之軸(d軸)從不產生轉矩之軸(dm軸)偏移，而成為受高頻電壓因轉矩之旋轉電機的振動及噪音之要因。 According to the invention described in Patent Document 2, the magnetic pole position is estimated using the compensation angle compensation, but as shown in Fig. 9, the high frequency impedance is applied to the axis having the same high frequency impedance from the axis of the estimated magnetic pole position θ 0 by ±45°. Since the voltage is applied, the shaft (d-axis) to which the high-frequency voltage is applied is shifted from the axis (dm-axis) where the torque is not generated, and becomes a cause of vibration and noise of the rotating electric machine due to the high-frequency voltage due to the torque.
因此，在前述磁極位置計算手段6之推定磁極位置 之計算中，恆常地設施加高頻交變電壓向量之軸為dm軸，而控制因高頻電壓之轉矩導致的旋轉電機之振動及噪音的產生。此係意味令屬於實際之磁極位置之dm軸與屬於推定磁極位置之d軸的偏差△θ為零。在此根據數式(13)，若△θ近似於零，則| iqh |係以數式(14)表示。 Therefore, the estimated magnetic pole position of the magnetic pole position calculating means 6 is In the calculation, the axis of the constant-frequency facility plus the high-frequency alternating voltage vector is the dm axis, and the vibration and noise of the rotating electrical machine due to the torque of the high-frequency voltage are controlled. This means that the deviation Δθ of the dm axis belonging to the actual magnetic pole position and the d axis belonging to the estimated magnetic pole position is zero. Here, according to the equation (13), if Δθ is approximately zero, |iqh | is expressed by the equation (14).
換言之，| iqh |之值若近似於數式(14)之右邊之值，則△θ係近似於零。此時，由於θ e係屬於未知，數式(14)之右邊雖無法即時地計算，惟θ e因具有與負載電流之大小相對應而變化之特徵，故能夠事前預先量測。因此，將屬於後述之交變電流振幅產生手段7之輸出的交變電流振幅指令| iqh_ref |設定於數式(15)，使用比積分器，以數式(16)構成推定磁極位置θ 0之方式，使| iqh |一致於| iqh_ref |，即能夠使| iqh |近似於指令值| iqh_ref |，結果，使屬於推定磁極位置之d軸與dm軸一致，並且令施加高頻電壓向量之方向為dm軸，即能夠抑制因轉矩導致之旋轉電機之振動及噪音的產生。另外，| iqh_ref |之設定方法如後述。 In other words, if the value of | iqh | approximates the value to the right of equation (14), Δθ is approximately zero. At this time, since θ e is unknown, the right side of the equation (14) cannot be calculated instantaneously, but since θ e has a characteristic that changes in accordance with the magnitude of the load current, it can be measured in advance. Therefore, the alternating current amplitude command | iqh_ref | which is an output of the alternating current amplitude generating means 7 to be described later is set in the equation (15), and the estimated magnetic pole position θ 0 is formed by the equation (16) using the ratio integrator. In this way, let | iqh | be consistent with | iqh_ref |, that is, we can make | iqh | approximate the instruction value | iqh_ref |, and as a result, make the d-axis belonging to the estimated magnetic pole position coincide with the dm axis, and the direction of applying the high-frequency voltage vector For the dm axis, it is possible to suppress the generation of vibration and noise of the rotating electrical machine due to the torque. In addition, the setting method of |iqh_ref| is as follows.
以上，係為針對藉由磁極位置計算手段6之磁極位置推定的計算方法的說明。 The above is a description of the calculation method for the magnetic pole position estimation by the magnetic pole position calculating means 6.
接著，針對磁極位置計算手段6之構成加以說明。 Next, the configuration of the magnetic pole position calculating means 6 will be described.
如第10圖所示，磁極位置計算手段6係由加減算器61、以及磁極位置推定器62所構成，該加減算器61係輸出交變電流振幅指令與交變電流振幅之偏差，而該磁極位置推定器62係依前述偏差輸出推定磁極位置。磁極位置推定器62係根據由加減算器61所輸入之偏差值，使用數式(16)而輸出推定磁極位置。以上，係為磁極位置計算手段6之構成。 As shown in Fig. 10, the magnetic pole position calculating means 6 is composed of an adder-subtractor 61 and a magnetic pole position estimator 62 which outputs a deviation between the alternating current amplitude command and the amplitude of the alternating current, and the magnetic pole position The estimator 62 outputs the estimated magnetic pole position in accordance with the aforementioned deviation. The magnetic pole position estimator 62 outputs the estimated magnetic pole position using the equation (16) based on the deviation value input by the adder-subtractor 61. The above is the configuration of the magnetic pole position calculating means 6.
再者，交變電流振幅指令產生手段7係對電流向量指令(id_ref，iq_ref)，乘上屬於放大值(Kd，Kq)之轉置矩陣(Kd，Kq)T(T係表示轉置矩陣)，產生交變電流振幅指令| iqh_ref |。放大值(Kd，Kq)，亦能夠取單純之固定值，亦能夠使用表格，以根據電流向量指令進行變更之方式提高交變電流振幅指令值之精確度。此外，亦可預先令Kd=0，僅依電流向量指令之轉矩成分產生交變電流振幅指令。 Furthermore, the alternating current amplitude command generating means 7 is a current vector command (id_ref, iq_ref) multiplied by a transposed matrix (Kd, Kq) T belonging to the amplified value (Kd, Kq) (T system represents a transposed matrix) , generate alternating current amplitude command | iqh_ref |. The amplification value (Kd, Kq) can also be a simple fixed value. It is also possible to use a table to increase the accuracy of the alternating current amplitude command value in accordance with the current vector command change. In addition, it is also possible to predetermine Kd=0 and generate an alternating current amplitude command only based on the torque component of the current vector command.
另外，放大值係事前預先量測於施加高頻交變電壓向量、以及負載電流於交流旋轉電機1時，以數式(2)所獲得之| iqh |之值，且依前述電流向量指令與| iqh |決定放大值。根據前述，即能夠與未知之θ e無關，而求得電流振幅指令值| iqh_ref |。在量測上，例如亦可依電磁場分析等分析性地求得相 對於電流指令向量之指令值，亦可使用實機器加以量測。若該等預先進行事前的量測，立刻即能夠適用於以無感測器(sensorless)之運轉。 In addition, the amplification value is previously measured in advance when the high frequency alternating voltage vector is applied, and the load current is applied to the AC rotating electrical machine 1, the value of |iqh| obtained by the equation (2), and according to the current vector command and | iqh | decides to zoom in. According to the foregoing, the current amplitude command value | iqh_ref | can be obtained regardless of the unknown θ e . In the measurement, for example, the phase can be obtained analytically based on electromagnetic field analysis or the like. The command value of the current command vector can also be measured using a real machine. If these pre-measurements are performed in advance, they can be applied to the operation without sensorless.
根據前述，藉由本實施形態之構成，推定磁極位置θ 0係因藉由使交變電流振幅與交變電流振幅指令一致之方式施加高頻交變電壓向量，而能夠恆常地對不產生轉矩之軸施加交變電壓，故能夠抑制旋轉電機之振動及噪音。 According to the configuration of the present embodiment, the magnetic pole position θ 0 is estimated by applying the high-frequency alternating voltage vector so that the alternating current amplitude and the alternating current amplitude command coincide with each other. Since the alternating shaft applies an alternating voltage, vibration and noise of the rotating electrical machine can be suppressed.
在實施形態1中係顯示使用高頻電壓，而即使為負載時亦使磁極位置誤差不產生之磁極位置推定方法。惟，該方法如前述，在高轉速區域提供高頻電壓係在運轉效率及電壓利用率、最大電流之點為不利。 In the first embodiment, the magnetic pole position estimating method in which the magnetic pole position error is not generated even when the load is used is shown. However, as described above, the method of providing a high-frequency voltage in a high-speed region is disadvantageous in terms of operating efficiency, voltage utilization, and maximum current.
在實施形態2中，為在低至高速之全速度區域進行磁極位置推定而於磁極位置計算手段6具有適應性觀測器65，在全速度區域使用適應性觀測器65計算磁極位置。其中，在感應電壓小難以計算磁通向量之低速區域中係使用高頻交變電壓計算磁通向量，彌補在不利適應性觀測器65之低速區域的磁極位置推定，在全速度區域能夠進行磁極位置推定。 In the second embodiment, the magnetic pole position estimation means 6 has an adaptive observer 65 for estimating the magnetic pole position in the low-speed high-speed region, and the magnetic pole position is calculated using the adaptive observer 65 in the full-speed region. Wherein, in a low-speed region where the induced voltage is small, it is difficult to calculate the magnetic flux vector, and the magnetic flux vector is calculated using the high-frequency alternating voltage to compensate for the magnetic pole position estimation in the low-speed region of the unfavorable adaptive observer 65, and the magnetic pole can be performed in the full-speed region. Position presumption.
第11圖係為顯示本發明之實施形態2之交流旋轉電機之控制裝置的全體構成。在本實施形態中係將交變電流振幅、交變電流振幅指令、電壓指定向量、以及偵測電流向量輸入於磁極位置計算手段6。除此之外的構成因與實施形態1相同故省略說明。於第12圖顯示本實施形態之磁極位置計算手段6之構成。 Fig. 11 is a view showing the overall configuration of a control device for an AC rotating machine according to a second embodiment of the present invention. In the present embodiment, the alternating current amplitude, the alternating current amplitude command, the voltage designation vector, and the detected current vector are input to the magnetic pole position calculating means 6. The other configuration is the same as that of the first embodiment, and thus the description thereof is omitted. The configuration of the magnetic pole position calculating means 6 of this embodiment is shown in Fig. 12.
在本實施形態中，磁極位置計算手段6係具有：磁 通向量偵測部66、偏差向量計算部63、偏差放大部64、以及適應性觀測部65；該磁通向量偵測部66係從交變電流振幅指令與交變電流振幅偵測轉子磁通向量，並輸出作為偵測磁通向量；該偏差向量計算部63係輸出屬於推定電流向量與偵測電流向量之偏差的電流偏差向量、以及屬於推定磁通向量與前述偵測磁通向量之偏差的磁通偏差向量；該偏差放大部64係放大前述電流偏差向量與磁通偏差向量而輸出作為放大偏差向量；而該適應性觀測部65係輸出交流旋轉電機1之推定電流向量、推定磁通向量、以及推定磁極位置。 In the present embodiment, the magnetic pole position calculating means 6 has: magnetic a pass vector detecting unit 66, a deviation vector calculating unit 63, a deviation amplifying unit 64, and an adaptive observation unit 65; the flux vector detecting unit 66 detects the rotor flux from the alternating current amplitude command and the alternating current amplitude The vector is output as a detected magnetic flux vector; the deviation vector calculating unit 63 outputs a current deviation vector belonging to the deviation between the estimated current vector and the detected current vector, and a deviation between the estimated magnetic flux vector and the detected magnetic flux vector The magnetic flux deviation vector 64 is obtained by amplifying the current deviation vector and the magnetic flux deviation vector as an amplification deviation vector; and the adaptive observation unit 65 outputs the estimated current vector and the estimated magnetic flux of the AC rotating machine 1 Vector, and estimated magnetic pole position.
偏差向量計算部63係輸出藉由加減算器631從屬於後述之適應性觀測部65之輸出之推定電流向量(ids0，iqs0)減去屬於電流向量偵測手段2之輸出之偵測電流向量(ids，iqs)的電流偏差向量(eids，eiqs)，且輸出藉由加減算器632從屬於後述之適應性觀測部65之輸出之推定磁通向量(Φ dr0，Φ qr0)減去屬於後述之磁通向量偵測部之輸出之偵測磁通向量(Φ drD，Φ qrD)的磁通偏差向量(e Φ dr，e Φ qr)。 The deviation vector calculation unit 63 outputs the estimated current vector (ids0, iqs0) which is output from the adaptive observation unit 65, which will be described later, by the adder-subtractor 631, and subtracts the detected current vector (ids) belonging to the output of the current vector detecting means 2. a current deviation vector (eids, eiqs) of iqs), and the output is subtracted from the estimated magnetic flux vector (Φ dr0, Φ qr0) belonging to the output of the adaptive observation unit 65 described later by the adder-subtractor 632. The magnetic flux deviation vector (e Φ dr, e Φ qr) of the detected magnetic flux vector (Φ drD, Φ qrD) at the output of the vector detecting unit.
第13圖係為偏差放大部64的構成圖。第13圖之增益(gain)矩陣641係輸出對屬於電流偏差向量(eids，eiqs)之轉置矩陣的(eids，eiqs)T乘上矩陣Hc之結果，而增益矩陣642係輸出對磁通偏差向量(e Φ dr，e Φ qr)T乘上矩陣Hf之結果。在此，矩陣Hc、Hf係為以數式(17)所定義之增益矩陣，數式(17)之h11至h44係為放大增益。h11至h44雖係為能夠任意地設定之值，惟例如，令矩陣Hc之h11至h42如專利文獻3(日本特許第4672236號公報)之第9圖所記載，依推定速度ω r0變更各放大增益之值。同樣地， 增益矩陣Hf之h13至h44之值亦依推定速度ω r0亦可變更各放大增益之值。另外該情形，如第14圖令從後述之適應性觀測部65亦輸出推定速度ω r0，俾使偏差放大部64將推定速度ω r0輸入於增益矩陣644、645。 Fig. 13 is a configuration diagram of the deviation amplifying unit 64. The gain matrix 641 of Fig. 13 outputs the result of multiplying the (eids, eiqs) T of the transposed matrix belonging to the current deviation vector (eids, eiqs) by the matrix Hc, and the gain matrix 642 is outputting the deviation of the magnetic flux. vector (e Φ dr, e Φ qr ) T multiplying the result matrix of Hf. Here, the matrices Hc and Hf are gain matrices defined by the equation (17), and h11 to h44 of the equation (17) are amplification gains. H11 to h44 are arbitrarily set values. For example, h11 to h42 of the matrix Hc are described in the ninth diagram of Patent Document 3 (Japanese Patent No. 4672236), and the respective magnifications are changed according to the estimated speed ω r0 . The value of the gain. Similarly, the values of h13 to h44 of the gain matrix Hf can also change the value of each amplification gain according to the estimated speed ω r0 . In this case, the adaptive observation unit 65, which will be described later, also outputs the estimated speed ω r0 as shown in the fourteenth embodiment, and causes the deviation amplifying unit 64 to input the estimated speed ω r0 to the gain matrices 644 and 645.
加減算器643係加法運算第13圖之增益矩陣641與增益矩陣642或者第14圖之增益矩陣644與增益矩陣645的輸出向量，輸出放大偏差向量(e1，e2，e3，e4)T。 The adder-subtractor 643 adds the gain vector of the gain matrix 641 and the gain matrix 642 of FIG. 13 or the gain matrix 644 of FIG. 14 and the gain matrix 645, and outputs an amplification deviation vector (e1, e2, e3, e4) T .
另外，後述之適應性觀測部65所輸出之推定速度或推定磁極位置，當高轉速時，因即使不使用屬於偵測磁通向量與推定磁通向量之偏差的磁通偏差向量亦能夠良好地推定速度及位置，故在增益矩陣642或者增益矩陣645中，推定速度之絕對值大時，使h13至h44之值為零，而令在高轉速區域增益矩陣642或者增益矩陣645之輸出為零。結果，停止磁通向量偵測部66之計算能夠降低計算量，並且令控制手段3內部之高頻交變電壓向量產生器33之輸出vdh、vqh亦為零，藉此能夠使因vdh、vqh而產生之高頻電流亦消失，且因高頻電流導致之損失亦消除。 Further, the estimated speed or the estimated magnetic pole position outputted by the adaptive observation unit 65, which will be described later, can be satisfactorily used even when the magnetic flux deviation vector belonging to the deviation between the detected magnetic flux vector and the estimated magnetic flux vector is not used. The speed and the position are estimated. Therefore, in the gain matrix 642 or the gain matrix 645, when the absolute value of the estimated speed is large, the values of h13 to h44 are made zero, and the output of the gain matrix 642 or the gain matrix 645 in the high-speed region is zero. . As a result, the calculation of the stop flux vector detecting unit 66 can reduce the amount of calculation, and the outputs vdh and vqh of the high-frequency alternating voltage vector generator 33 inside the control means 3 are also zero, whereby the cause vdh, vqh can be made. The resulting high-frequency current also disappears, and the loss due to high-frequency current is also eliminated.
如第15圖，適應性觀測部65係由座標轉換器651、狀態觀測器652、以及積分器853所構成。 As shown in Fig. 15, the adaptive observation unit 65 is composed of a coordinate converter 651, a state observer 652, and an integrator 853.
首先，針對適應性觀測部65之動作加以說明。令交流旋轉電機1之電樞電阻為R、d軸方向之電樞電感為Ld、q軸方向之電樞 電感為Lq、推定速度為ω r0、以及電源角頻率為ω，並以數式(18)定義矩陣A、B、C、D、C1、C2。 First, the operation of the adaptive observation unit 65 will be described. The armature resistance of the AC rotating machine 1 is the armature inductance of the R and d axes, and the armature of the Ld and q axis directions. The inductance is Lq, the estimated speed is ω r0 , and the power supply angular frequency is ω, and the matrixes A, B, C, D, C1, and C2 are defined by the equation (18).
此外，當定義d-q軸上之推定電樞反作用向量之d軸成分為Φ ds0、q軸成分為Φ qs0、d-q軸上之電壓指定向量之d軸成分為vds、q軸成分為vqs時，能夠獲得如數式(19)之推定電樞反作用向量Φ ds0、Φ qs0與推定磁通向量Φ dr0、Φ qr0。 Further, when the d-axis component of the estimated armature reaction vector on the dq axis is defined as Φ ds0, the q-axis component is Φ qs0 , and the d-axis component of the voltage designation vector on the dq axis is vds, and the q-axis component is vqs, The estimated armature reaction vectors Φ ds0, Φ qs0 and the estimated flux vectors Φ dr0, Φ qr0 of the equation (19) are obtained.
此外，定義拉普拉斯運算子(微分運算子)為s、kp為比例增益、ki為積分增益，屬於數式(18)之矩陣A之內部參數的推定速度ω r0係使用電流偏差向量△ids、△iqs與推定磁通向量Φ dr0、Φ qr0而根據數式(20)求出。 In addition, the Laplacian operator (differential operator) is defined as s, kp is the proportional gain, ki is the integral gain, and the estimated velocity ω r0 of the internal parameter belonging to the matrix A of the equation (18) is the current deviation vector Δ. Ids, Δiqs and the estimated magnetic flux vectors Φ dr0 and Φ qr0 are obtained from the equation (20).
推定位置θ 0係能夠以如數式(21)積分推定速度之方式獲得。 The estimated position θ 0 can be obtained by integrating the estimated speed by the equation (21).
此外，推定電流向量ids0、iqs0係能藉由數式(22)求得。 Further, the estimated current vectors ids0 and iqs0 can be obtained by the equation (22).
同樣地，推定磁通向量Φ dr0、Φ qr0係能夠藉由數式(23)求得。 Similarly, the estimated magnetic flux vectors Φ dr0 and Φ qr0 can be obtained by the equation (23).
如前述，若使用數式(18)至(23)，能夠根據電壓指定向量、放大偏差向量、以及電流偏差向量，而計算推定位置、推定電流向量、以及推定磁通向量。 As described above, by using the equations (18) to (23), the estimated position, the estimated current vector, and the estimated magnetic flux vector can be calculated from the voltage designation vector, the amplification deviation vector, and the current deviation vector.
在此基礎下，針對作為適應性觀測部65之構成圖之第15圖加以說明。在第15圖中，座標轉換器651係將屬於控制手段之輸出的3相交流之電壓指令向量轉換成屬於正交旋轉座標d-q軸之電壓指令向量vds、vqs，並輸出至狀態觀測器652。 Based on this, a description will be given of Fig. 15 which is a configuration diagram of the adaptive observation unit 65. In Fig. 15, the coordinate converter 651 converts the three-phase alternating voltage command vector belonging to the output of the control means into voltage command vectors vds, vqs belonging to the orthogonal rotary coordinate d-q axis, and outputs it to the state observer 652.
在詳細顯示於第16圖之狀態觀測器652中，係輸出在增益矩陣計算器6521對屬於座標轉換器651之輸出的電壓指令 向量(vds，vqs)T乘以矩陣B之結果。加減算器6522係輸出加減運算增益矩陣計算器6521之輸出、增益矩陣計算器6523、以及偏差放大向量(e1，e2，e3，e4)T的向量。積分器6524係對加減算器6522所輸之向量依每一各要素進行積分，且輸出作為向量(Φ ds0，Φ qs0，Φ dr0，Φ qr0)T。以上係為相當於數式(19)之右邊的部分。另外，數式(19)之左邊係相當於積分器6524之輸入部分。 In the state observer 652 shown in detail in Fig. 16, the result of multiplying the voltage command vector (vds, vqs) T of the output belonging to the coordinate converter 651 by the gain matrix calculator 6521 by the matrix B is output. The adder-subtractor 6522 is a vector that outputs the output of the addition and subtraction gain matrix calculator 6521, the gain matrix calculator 6523, and the deviation amplification vector (e1, e2, e3, e4) T. The integrator 6524 integrates each of the elements of the vector input by the adder-subtractor 6522, and outputs it as a vector (Φ ds0, Φ qs0, Φ dr0, Φ qr0) T . The above is the portion corresponding to the right side of the formula (19). Further, the left side of the equation (19) corresponds to the input portion of the integrator 6524.
增益矩陣計算器6525係將矩陣C1乘上向量(Φ ds0，Φ qs0，Φ dr0，Φ qr0)T，而輸出推定電流向量(Φ ds0，Φ qs0)T。該部分係相當於數式(22)。增益矩陣計算器6526係將矩陣C2乘上向量(Φ ds0，Φ qs0，Φ dr0，Φ qr0)T，而輸出推定磁通向量(Φ dr0，Φ qr0)T。該部分係相當於數式(23)。 The gain matrix calculator 6525 multiplies the matrix C1 by a vector (Φ ds0, Φ qs0, Φ dr0, Φ qr0) T and outputs an estimated current vector (Φ ds0, Φ qs0) T . This part is equivalent to the equation (22). The gain matrix calculator 6526 multiplies the matrix C2 by a vector (Φ ds0, Φ qs0, Φ dr0, Φ qr0) T and outputs a putative magnetic flux vector (Φ dr0, Φ qr0) T . This part is equivalent to the formula (23).
第15圖之積分器653係如數式(21)，積分屬於狀態觀測器652之輸出的推定速度ω r0而求得推定位置θ 0。 The integrator 653 of Fig. 15 is expressed by the equation (21), and the integral belongs to the estimated speed ω r0 of the output of the state observer 652 to obtain the estimated position θ 0 .
以上係為適應性觀測部65之動作。 The above is the action of the adaptive observation unit 65.
如前述，磁通向量偵測部66雖從交變電流振幅與交變電流振幅指令計算偵測磁通向量，惟首先針對偵測磁通向量加以說明。 As described above, the magnetic flux vector detecting unit 66 calculates the detected magnetic flux vector from the alternating current amplitude and the alternating current amplitude command, but first describes the detected magnetic flux vector.
如第17圖，轉子磁通向量Φ r係與dm軸相同方向。在此，將轉子磁通向量Φ r朝與高頻電壓向量平行方向投影，亦即朝d軸方向之Φ drD、與高頻電壓向量正交方向投影，亦即朝q軸方向之Φ qrD進行投影。令朝該d軸與q軸投影之Φ drD、Φ qrD為偵測磁通向量，以數式表示即能夠以數式(24)加以表示。 As shown in Fig. 17, the rotor flux vector Φ r is in the same direction as the dm axis. Here, the rotor flux vector Φ r is projected in a direction parallel to the high-frequency voltage vector, that is, Φ drD in the d-axis direction, and orthogonal to the high-frequency voltage vector, that is, Φ qrD in the q-axis direction. projection. Φ drD and Φ qrD projected toward the d-axis and the q-axis are detected magnetic flux vectors, which can be expressed by a mathematical expression (24).
數式(24)之Φ f係為轉子磁通向量Φ r之大小，轉子磁通向量Φ r係能夠事前預先量測。因此，為了依數式(24)計算偵測磁通向量，只要知道△θ即可。 The Φ f of the equation (24) is the magnitude of the rotor flux vector Φ r , and the rotor flux vector Φ r can be measured in advance. Therefore, in order to calculate the detected magnetic flux vector according to the equation (24), it is sufficient to know Δθ.
在實施形態1中，轉子磁通方向dm軸與推定磁極位置d軸之偏差△θ係以數式(9)表示。適應性觀測部65係因恒常性地使△θ以近似於零之方式進行動作，且由於2△θ≒0故可令sin2△θ≒2△θ。因此，依數式(9)獲得數式(25)。 In the first embodiment, the deviation Δθ between the rotor magnetic flux direction dm axis and the estimated magnetic pole position d-axis is expressed by the equation (9). The adaptive observation unit 65 operates Δθ to be approximately zero in a constant manner, and sin2 Δθ ≒ 2 Δθ due to 2 Δθ ≒ 0. Therefore, the equation (25) is obtained by the equation (9).
因此，能夠依數式(24)、(25)，使用| iqh |而計算偵測磁通向量。 Therefore, it is possible to calculate the detected magnetic flux vector using the equations (24) and (25) using |iqh|.
在此，針對負載時之動作加以探討。前述，在負載時與負載電流相對應而使電感分佈變化，因在顯示推定磁極位置之d軸與轉子磁通方向之dm軸之間產生誤差，故數式(8)係變化成數式(13)。因此，若展開數式(13)則形成數式(26)。 Here, the action at the time of load is discussed. As described above, the inductance distribution changes in accordance with the load current at the time of load, and an error occurs between the d-axis showing the estimated magnetic pole position and the dm-axis of the rotor magnetic flux direction, so the equation (8) is changed into a number (13). ). Therefore, if the equation (13) is expanded, the equation (26) is formed.
△θ若恆常地為零進行動作時，由於2△θ≒0故令sin2△θ ≒2△θ、cos2△θ≒1，即依數式(26)獲得數式(27)。 △ θ If the operation is constant at zero, sin2 Δθ is caused by 2 Δθ ≒ 0 ≒2 Δθ, cos2 Δθ ≒ 1, that is, the equation (27) is obtained by the equation (26).
在此，數式(27)之右邊第2項係與數式(15)相等。因此，若從數式(15)減去數式(27)，則形成數式(28)。 Here, the second term on the right side of the equation (27) is equal to the formula (15). Therefore, if the equation (27) is subtracted from the equation (15), the equation (28) is formed.
能夠依數式(28)獲得△θ之數式(29)。 The equation (29) of Δθ can be obtained according to the equation (28).
在數式(29)，因殘留有未知之值的cos2 θ e，故無法直接適用於數式(24)。 In the equation (29), since cos2 θ e with an unknown value remains, it cannot be directly applied to the equation (24).
因此，使用高頻電流之平行成分idh而計算cos2 θ e。根據數式(12)，高頻電流之平行成分idh，係能夠以數式(30)表示，且其大小(振幅)| idh |係成為數式(31)。 Therefore, cos2 θ e is calculated using the parallel component idh of the high-frequency current. According to the equation (12), the parallel component idh of the high-frequency current can be expressed by the equation (30), and the magnitude (amplitude) | idh | is expressed by the equation (31).
△θ若恆常地為零進行動作時，則根據△θ≒0可獲得數式(32)。 When Δθ is constantly operated at zero, the equation (32) can be obtained from Δθ ≒ 0.
在此，數式(32)之右邊，除cos2 θ e外係為已知，| idh |係與| iqh |同樣地能夠依偵測電流向量之高頻成分加以計算。亦即，cos2 θ e係能夠使用數式(33)在線上(online)加以計算。 Here, the right side of the equation (32) is known except for cos2 θ e , and the | idh | system can be calculated based on the high frequency component of the detected current vector in the same manner as | iqh |. That is, the cos2 θ e system can be calculated online using the equation (33).
因此，依數式(29)、(33)計算△θ，即能夠計算數式(24)的偵測磁通向量。 Therefore, by calculating Δθ according to the equations (29) and (33), it is possible to calculate the detected magnetic flux vector of the equation (24).
另外，此時，如第18圖所示，交變電流振幅計算手段5係藉由交變振幅抽出器53依高頻電流向量輸出交變電流振幅矩陣(| idh |，| iqh |)，而如第19圖所示，交變振幅抽出器53係除正交成分選擇器531、振幅計算器532外，且具有平行成分選擇器533，平行成分選擇器係對高頻電流向量乘上(1，0)T而選擇idh，俾使振幅計算器依數式(34)計算振幅| idh |。 Further, at this time, as shown in Fig. 18, the alternating current amplitude calculating means 5 outputs the alternating current amplitude matrix (| idh |, | iqh |) in accordance with the high-frequency current vector by the alternating amplitude extractor 53. As shown in Fig. 19, the alternating amplitude extractor 53 is provided with a parallel component selector 533 in addition to the orthogonal component selector 531 and the amplitude calculator 532, and the parallel component selector multiplies the high frequency current vector (1). , 0) T and select idh, so that the amplitude calculator calculates the amplitude | idh | according to the equation (34).
根據前述，因能夠依高頻電流振幅與高頻電流振幅指令計算轉子磁通方向dm軸與推定磁極位置d軸的偏差△θ， 故能夠不預先事前求得磁極位置而計算偵測磁通向量，且能夠降低計算量。 According to the above, since the deviation Δθ between the rotor magnetic flux direction dm axis and the estimated magnetic pole position d-axis can be calculated according to the high-frequency current amplitude and the high-frequency current amplitude command, Therefore, it is possible to calculate the detected magnetic flux vector without previously obtaining the magnetic pole position, and it is possible to reduce the amount of calculation.
此外，即使於在推定磁極位置出現誤差之負載時，亦使交變電流振幅依交變電流振幅指令求得偵測磁通向量，且求得屬於偵測磁通向量與推定磁通向量之偏差的磁通偏差向量、以及屬於偵測電流向量與推定磁通向量之偏差的電流偏差向量，並依放大磁通偏差向量的放大偏差向量使適應性觀測部65推定磁極位置，即可不受因負載之磁極位置推定誤差之影響而進行在全速度區域之磁極位置的推定。 In addition, even when the load with the error of the magnetic pole position is estimated, the alternating current amplitude is obtained by the alternating current amplitude command to obtain the detected magnetic flux vector, and the deviation between the detected magnetic flux vector and the estimated magnetic flux vector is obtained. The magnetic flux deviation vector and the current deviation vector belonging to the deviation between the detected current vector and the estimated magnetic flux vector, and the adaptive observation unit 65 estimates the magnetic pole position according to the amplified deviation vector of the amplified magnetic flux deviation vector, so that the load is not affected by the load The magnetic pole position estimation in the full speed region is performed by the influence of the magnetic pole position estimation error.
實施形態3 Embodiment 3
在實施形態1中，交變電流振幅指令產生手段7係依電流向量指令產生交變電流振幅指令。交流旋轉電機1之偵測電流向量係因藉由控制手段3，恆常地以與電流向量指令一致之方式進行控制，故亦可依偵測電流向量產生交變電流振幅指令。 In the first embodiment, the alternating current amplitude command generating means 7 generates an alternating current amplitude command in accordance with the current vector command. The detection current vector of the AC rotating electric machine 1 is controlled by the control means 3 in a manner consistent with the current vector command, so that the alternating current amplitude command can also be generated according to the detected current vector.
於第20圖顯示本實施形態之交流旋轉電機之控制裝置之構成。於第20圖中，交變電流振幅指令產生手段7係依偵測電流向量產生交變電流振幅指令。其他構成係與實施形態1相同。 Fig. 20 is a view showing the configuration of a control device for an AC rotating machine of the present embodiment. In Fig. 20, the alternating current amplitude command generating means 7 generates an alternating current amplitude command based on the detected current vector. The other configuration is the same as that of the first embodiment.
交變電流振幅指令產生手段7係對偵測電流向量(ids，iqs)乘上放大值(Kd，Kq)T，而產生交變電流振幅指令。放大值(Kd，Kq)係能夠取單純之固定值，亦能夠具有根據電流向量指令之表格值，而提高交變電流振幅指令值之精確度。此外，亦可預先令Kd=0，僅依偵測電流向量之轉矩成分產生交變電流指令。 The alternating current amplitude command generating means 7 multiplies the detected current vector (ids, iqs) by the amplified value (Kd, Kq) T to generate an alternating current amplitude command. The amplification value (Kd, Kq) can take a simple fixed value, and can also have the accuracy of the alternating current amplitude command value according to the table value of the current vector command. In addition, it is also possible to predetermine Kd=0 and generate an alternating current command only based on the torque component of the detected current vector.
根據前述，交變電流振幅指令產生手段7係使用偵測電流向量而產生交變電流振幅指令，從而使用與交流旋轉電機 之內部狀態一致之交變電流振幅指令，而能夠計算磁極位置。 According to the foregoing, the alternating current amplitude command generating means 7 generates an alternating current amplitude command by using the detected current vector, thereby using the alternating current rotating electric machine. The alternating current amplitude command with the same internal state can calculate the magnetic pole position.
另外，於實施形態3所記載之交變電流振幅指令產生手段7，亦能夠同樣地適用於實施形態2。此時，取於第21圖所示之構成，交變電流振幅指令產生手段7係與實施形態3同樣地構成。 Further, the alternating current amplitude command generating means 7 described in the third embodiment can be similarly applied to the second embodiment. At this time, the configuration shown in Fig. 21 is adopted, and the alternating current amplitude command generating means 7 is configured in the same manner as in the third embodiment.
在實施形態1至3之交流旋轉電機之控制裝置中，係朝屬於交流旋轉電機之轉子磁通之dm軸方向施加高頻電壓。惟，在Ld與Lq之比(以下，稱凸極比)大的交流旋轉電機中，抑制因高頻電壓之轉矩之產生的軸係不侷限為dm軸。 In the control device for the AC rotating electric machine according to the first to third embodiments, a high-frequency voltage is applied to the dm-axis direction of the rotor magnetic flux belonging to the AC rotating machine. However, in an AC rotating machine in which the ratio of Ld to Lq (hereinafter referred to as salient pole ratio) is large, the shaft system that suppresses the generation of the torque due to the high-frequency voltage is not limited to the dm axis.
在本實施形態中，針對關於凸極比大的交流旋轉電機，亦朝抑制因高頻交變電壓而產生轉矩的方向施加高頻電壓的交流旋轉電機之控制裝置加以敘述。 In the present embodiment, a control device for an AC rotating machine that applies a high-frequency voltage in a direction in which a torque is generated due to a high-frequency alternating voltage is also described in the case of an AC rotating machine having a large salient pole ratio.
首先，針對因高頻交變電壓而產生轉矩之原因及抑制轉矩之產生的方法加以敘述。 First, a method of generating torque due to a high-frequency alternating voltage and a method of suppressing generation of torque will be described.
交流旋轉電機1屬於使用永久磁鐵的同步電動機時，產生轉矩τ，係以數式(35)為公知。 When the AC rotating electric machine 1 is a synchronous motor using a permanent magnet, the torque τ is generated, and the equation (35) is known.
此外，將數式(35)變形成數式(36)，且若預先令轉矩τ為固定值，則iq係能夠表示作為id之雙曲線。此時在(id，iq)軸上之電流向量的軌跡(定轉矩曲線)係形成如第22圖所示。 Further, the equation (35) is changed to the equation (36), and if the torque τ is set to a fixed value in advance, iq can represent a hyperbola as an id. At this time, the trajectory (fixed torque curve) of the current vector on the (id, iq) axis is formed as shown in Fig. 22.
在此，定轉矩曲線係指在該曲線上任一電流值均使轉矩為固定，即使在曲線上移動電流向量亦使轉矩不進行變化。亦即，若使因高頻交變電壓而變動之電流向量，處於該曲線上，則有不會產生因高頻交變電壓導致之轉矩的情形。 Here, the constant torque curve means that any current value on the curve makes the torque constant, and even if the current vector is moved on the curve, the torque does not change. In other words, if the current vector that fluctuates due to the high-frequency alternating voltage is on the curve, the torque due to the high-frequency alternating voltage does not occur.
若為了驅動交流旋轉電機1施加基本波電流向量，使轉矩產生時，即存在有該轉矩之定轉矩曲線。此時，若將高頻交變電壓朝dm軸方向施加時，高頻電流向量之軌跡係成為於第23圖所示之高頻電流向量。該向量軌跡，因不處於定轉矩曲線上故使轉矩進行變動。因此會有在旋轉電機產生振動及噪音之情形。 When a fundamental wave current vector is applied to drive the AC rotating electric machine 1 to generate torque, there is a constant torque curve of the torque. At this time, when the high-frequency alternating voltage is applied in the dm-axis direction, the trajectory of the high-frequency current vector is the high-frequency current vector shown in FIG. The vector trajectory changes the torque because it is not on the constant torque curve. Therefore, there is a case where vibration and noise are generated in the rotating electrical machine.
因此，若如第24圖所示令高頻電流之向量軌跡近似於定轉矩曲線的切線，即能夠抑制因高頻電流向量導致之轉矩的變動。若將數式(36)以id微分，則在數式(37)可獲得切線之斜率，復若使用數式(35)而加以變形則能以數式(38)表示。 Therefore, if the vector trajectory of the high-frequency current is approximated to the tangent of the constant torque curve as shown in Fig. 24, the fluctuation of the torque due to the high-frequency current vector can be suppressed. If the equation (36) is differentiated by id, the slope of the tangent can be obtained in the equation (37), and the equation (35) can be expressed by the equation (38).
此外，若令dm軸與定轉矩曲線之切線的偏差為η，則在某基本波電流向量(id1，iq1)之偏差η係能以數式(39)表示。 Further, if the deviation between the dm axis and the tangent of the constant torque curve is η, the deviation η of a certain fundamental current vector (id1, iq1) can be expressed by the equation (39).
亦即，藉由僅從dm軸偏移η而施加高頻電壓，即能夠抑制因高頻電流向量而產生轉矩。 That is, by applying a high-frequency voltage by shifting only η from the dm axis, it is possible to suppress the generation of torque due to the high-frequency current vector.
以上係已針對藉由高頻電壓使轉矩產生之原因及抑制轉矩之產生的方法加以說明。 The above has been described with respect to a method of generating torque by high-frequency voltage and a method of suppressing generation of torque.
在實施形態1至3的形態中，朝僅從dm軸相隔η之軸施加高頻電壓，係變更高頻交變電壓向量指令(vdh，vqh)即可。具體而言，係能夠以數式(40)加以求出而實現。 In the embodiment of the first to third embodiments, the high-frequency voltage is applied to the axis separated from the dm axis by η, and the high-frequency alternating voltage vector command (vdh, vqh) is changed. Specifically, it can be realized by the equation (40).
[數式40]v dh =Vh cos η sin ω h t vqh=Vh sin η sin ω h t…(40) [Expression 40] v dh = Vh cos η sin ω h t vqh = Vh sin η sin ω h t (40)
此時，針對| iqh_ref |之設定方法加以說明。將高頻電壓向量指令朝僅從dm軸相隔η之軸施加時，數式(13)中的△θ，使用來自dc軸之瞬時性的偏差△θ 1，即能夠以(η+△θ 1)加以置換，qm軸之高頻電流振幅係以數式(41)表示。 At this time, the setting method of |iqh_ref| will be described. When the high-frequency voltage vector command is applied to the axis separated from the dm-axis by η, the Δθ in the equation (13) can be (η + Δθ 1 using the deviation Δθ 1 from the instantaneousity of the dc-axis. In order to replace, the high-frequency current amplitude of the qm axis is expressed by the equation (41).
瞬時性的偏差△θ 1由於收斂為零，結果，獲得數式(42)。 The instantaneous deviation Δθ 1 is converged to zero, and as a result, the equation (42) is obtained.
因此，數式(42)係僅在數式(14)之右邊的正弦項增加(2 η)，其他之構成係為與實施形態1至3同樣，以電磁場分析或事前之實機器量測等加以掌握| iqh_ref |，即使從dm軸變更施加高頻電壓向量指令之方向時，亦能夠適用於實施形態1至3。藉此，能夠朝抑制轉矩之產生之方向施加高頻電壓。 Therefore, the equation (42) is increased by (2 η) only on the sine term on the right side of the equation (14), and the other configuration is the same as in the first to third embodiments, and the electromagnetic field analysis or the actual machine measurement beforehand is performed. It is understood that iqh_ref| can be applied to Embodiments 1 to 3 even when the direction in which the high-frequency voltage vector command is applied is changed from the dm axis. Thereby, it is possible to apply a high-frequency voltage in a direction in which the generation of the torque is suppressed.
根據前述，即使在凸極比大之交流旋轉電機中藉由將施加高頻電壓之軸取定轉矩曲線之切線方向，亦能夠抑制起因於高頻電壓之轉矩變動導致之旋轉電機的振動及噪音。 According to the above, even in the AC rotating electric machine in which the salient pole ratio is large, the tangential direction of the torque curve is applied to the axis to which the high-frequency voltage is applied, and the vibration of the rotating electric machine due to the torque fluctuation of the high-frequency voltage can be suppressed. And noise.
1‧‧‧交流旋轉電機 1‧‧‧AC rotating electric machine
2‧‧‧電流向量偵測手段 2‧‧‧ Current vector detection means
3‧‧‧控制手段 3‧‧‧Control means
4‧‧‧電壓施加手段 4‧‧‧Voltage application means
5‧‧‧交變電流振幅計算手段 5‧‧‧Alternating current amplitude calculation means
6‧‧‧磁極位置計算手段 6‧‧‧ Magnetic pole position calculation means
7‧‧‧交變電流振幅指令產生手段 7‧‧‧Alternating current amplitude command generation means
21‧‧‧座標轉換器 21‧‧‧ coordinate converter
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- 2012-10-19 JP JP2013556198A patent/JP5745105B2/en active Active
- 2012-10-19 KR KR1020147021588A patent/KR101623672B1/en active IP Right Grant
- 2012-11-15 TW TW101142588A patent/TWI450490B/en active
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000102300A (en) * | 1998-07-23 | 2000-04-07 | Yaskawa Electric Corp | Method and device for controlling ac motor |
| TW200524265A (en) * | 2004-01-07 | 2005-07-16 | Hitachi Home & Life Solutions | Controller for synchronous motor, electric appliance and module |
| JP2008125260A (en) * | 2006-11-13 | 2008-05-29 | Denso Corp | Controller of multi-phase rotary machine |
| WO2010109520A1 (en) * | 2009-03-25 | 2010-09-30 | 三菱電機株式会社 | Device and method for rotating electric machine |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201334397A (en) | 2013-08-16 |
| TWI450490B (en) | 2014-08-21 |
| JP5745105B2 (en) | 2015-07-08 |
| KR101623672B1 (en) | 2016-05-23 |
| CN104094516B (en) | 2017-02-22 |
| TW201442413A (en) | 2014-11-01 |
| EP2811643A4 (en) | 2016-03-16 |
| EP2811643A1 (en) | 2014-12-10 |
| JPWO2013114688A1 (en) | 2015-05-11 |
| CN104094516A (en) | 2014-10-08 |
| RU2576246C1 (en) | 2016-02-27 |
| KR20140116896A (en) | 2014-10-06 |
| US20140340018A1 (en) | 2014-11-20 |
| WO2013114688A1 (en) | 2013-08-08 |
| US9231511B2 (en) | 2016-01-05 |
| EP2811643B1 (en) | 2017-11-22 |
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